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feat(tier4_perception_launch): fix typo error #6999

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merged 8 commits into from
May 14, 2024
Merged

feat(tier4_perception_launch): fix typo error #6999

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42caf95
feat: downsample perception input pointcloud
YoshiRi Apr 25, 2024
c77bb73
fix: add group if to switch downsample node
YoshiRi Apr 26, 2024
ca654d2
fix: add test and exec depend
YoshiRi Apr 26, 2024
961407c
Update launch/tier4_perception_launch/launch/perception.launch.xml
YoshiRi Apr 27, 2024
413f066
Merge branch 'main' into feat/downsapmple_perception_input_pointclouds
YoshiRi May 9, 2024
d07ee84
chore: refactor perception.launch.xml
YoshiRi May 13, 2024
5eb4e02
fix: fix name
YoshiRi May 14, 2024
d306954
Merge branch 'main' into feat/downsapmple_perception_input_pointclouds
YoshiRi May 14, 2024
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6 changes: 3 additions & 3 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -132,9 +132,9 @@
<push-ros-namespace namespace="perception"/>
<!-- Perception common preprocess -->
<let name="downsampled_pointcloud" value="/perception/common/pointcloud"/>
<let name="perception_pointcloud" value="$(var input/pointcloud)" unless="$(var downsample_input_pointcloud)"/>
<let name="perception_pointcloud" value="$(var downsampled_pointcloud)" if="$(var downsample_input_pointcloud)"/>
<group if="$(var downsample_input_pointcloud)">
<let name="perception_pointcloud" value="$(var input/pointcloud)" unless="$(var downsample_perception_common_pointcloud)"/>
<let name="perception_pointcloud" value="$(var downsampled_pointcloud)" if="$(var downsample_perception_common_pointcloud)"/>
<group if="$(var downsample_perception_common_pointcloud)">
<push-ros-namespace namespace="common"/>
<load_composable_node target="$(var pointcloud_container_name)">
<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent" name="pointcloud_downsample_node" namespace="">
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